Check out Spriter or Spine
With spriter you can export good ol fashion spritesheets but save your projects so that you can easily switch clothing and animate your sprites within Spriter.
Spine has c API that will let you use the Spine animation data directly - this is a bit more involved/advanced but results in smoother animations. Last time I checked Spriter only had a library written to use this data with SFML.
In any case you can just export spritesheets and use the program to do your animation stuff. Saves a lot of time.